Method and computing system for object registration based on image classification

A non-transitory computer-readable medium having instructions thereon that, when executed by at least one processing circuit of a computing system, causes the at least one processing circuit to:

• obtain an image, wherein the computing system is configured to communicate with an image capture device and with a robot, and wherein the image is generated by the image capture device, and is for representing one or more objects in a field of view of the image capture device;
• generate a target image portion from the image, wherein the target image portion is a portion of the image associated with an object of the one or more objects;
• classify the target image portion as textured or textureless;
• perform object recognition based on one or more textureless templates when the target image portion is classified as textureless or one or more textured templates when the target image portion is classified as textured;
• perform object registration by generating (1) a new textureless template when the target image portion is classified as textureless and fails to correspond with the one or more textureless templates, or (2) a new textured template when the target image portion is classified as textured and fails to correspond with the one or more textured templates;
• and
• generate a movement command for causing robot interaction with the object, wherein the movement command is generated based on a result from the object recognition.

A method performed by a computing system, comprising:

• obtaining an image by the computing system, wherein the computing system is configured to communicate with an image capture device and with a robot, and wherein the image is generated by the image capture device, and is for representing one or more objects in a field of view of the image capture device;
• generating a target image portion from the image, wherein the target image portion is a portion of the image associated with an object of the one or more objects;
• classifying the target image portion as textured or textureless;
• performing object recognition by determining whether the target image corresponds with (1) a textureless template stored in a first template group when the target image portion is classified as textureless, or (2) a textured template stored in a second template group when the target image portion is classified as textured;
• performing object recognition based on one or more textureless templates when the target image is classified as textureless or one or more textured templates when the target image is classified as textured;
• and
• generating a movement command for causing robot interaction with the object, wherein the movement command is generated based on a result from the object recognition.